utilities

Class Test

java.lang.Object

utilities.Test

public class Test
extends Object

Testing methods for the robot Not called during match execution (demo mode Default)

Version:

3.0

Constructor Summary

Constructors

Constructor and Description
Test()

Method Summary

Modifier and Type	Method and Description
static void	AvoidanceTest(Odometer odo) Simple Avoidance test Just checks for obstacle avoidance
static void	ForkliftTest() Test for controlling the operation of the forklift Based on button inputs
static void	FullAvoidanceTest(Odometer odometer) Full test to verify if the robot is capable of avoiding Checks for objects, RED zone, and starting corners
static void	GripTest() Test for finding the threshold of motor angle for dropped block
static void	LocalizationTest(Odometer odo) Simple localization routine
static void	NavigationTest(Odometer odo, double[][] points, boolean stop) Move robot to arbitrary waypoints
static void	ObjectDifferentiationTest(Odometer odometer, ColorSensor colorSensor, USSensor usSensor, double[][] GREEN) Tests object differentiation in Search thread
static void	ObjectDiffTest() Basic test to verify if the robot can differentiate between obstacles and styrofoam blocks.
static void	ReturnTest(Odometer odo, Clock clock) Test for the robot returning to the starting corner (default corner)
static void	RGBUnitVectorTest(ColorSensor color) Measure RGB unit vector
static void	SquareTest(Odometer odo, int laps, double length) Move robot in square pattern (clockwise) of arbitrary size, and arbitrary amount of laps
static void	StraightLineTest(Odometer odo, double distance) Move robot forward and backward, turn 90 degrees and repeat
static void	TrackMeasureTest(Odometer odo, int rotations) Spin the robot a certain number of times.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Test

public Test()

Method Detail

LocalizationTest

public static void LocalizationTest(Odometer odo)

Simple localization routine

Parameters:

odo - Odometer

SquareTest

public static void SquareTest(Odometer odo,
                              int laps,
                              double length)

Move robot in square pattern (clockwise) of arbitrary size, and arbitrary amount of laps

Parameters:

odo - Odometer

laps - Amount of laps for robot to travel

length - Length of square

StraightLineTest

public static void StraightLineTest(Odometer odo,
                                    double distance)

Move robot forward and backward, turn 90 degrees and repeat

Parameters:

odo - Odometer

distance - Distance to move forward and backward

NavigationTest

public static void NavigationTest(Odometer odo,
                                  double[][] points,
                                  boolean stop)

Move robot to arbitrary waypoints

Parameters:

odo - Odometer

points - Waypoints

stop - Stop robot at each point to measure error

TrackMeasureTest

public static void TrackMeasureTest(Odometer odo,
                                    int rotations)

Spin the robot a certain number of times. The error between the initial heading and the final heading can be used to calculate the track length.

Parameters:

odo - Odometer object

rotations - number of rotations the robot should do before stopping

ObjectDiffTest

public static void ObjectDiffTest()

Basic test to verify if the robot can differentiate between obstacles and styrofoam blocks.

RGBUnitVectorTest

public static void RGBUnitVectorTest(ColorSensor color)

Measure RGB unit vector

Parameters:

color - ColorSensor object

ObjectDifferentiationTest

public static void ObjectDifferentiationTest(Odometer odometer,
                                             ColorSensor colorSensor,
                                             USSensor usSensor,
                                             double[][] GREEN)

Tests object differentiation in Search thread

Parameters:

odometer - Odometer Object

colorSensor - ColorSensor Object

usSensor - USSensor Object

GREEN - coordinates of scoring zone

See Also:

Search

ForkliftTest

public static void ForkliftTest()

Test for controlling the operation of the forklift Based on button inputs

See Also:

Forklift

FullAvoidanceTest

public static void FullAvoidanceTest(Odometer odometer)

Full test to verify if the robot is capable of avoiding Checks for objects, RED zone, and starting corners

Parameters:

odometer - Odometer object

AvoidanceTest

public static void AvoidanceTest(Odometer odo)

Simple Avoidance test Just checks for obstacle avoidance

Parameters:

odo - Odometer object

GripTest

public static void GripTest()

Test for finding the threshold of motor angle for dropped block

ReturnTest

public static void ReturnTest(Odometer odo,
                              Clock clock)

Test for the robot returning to the starting corner (default corner)

Parameters:

odo - Odometer object

clock - Clock thread